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Load the URDF to the resource_manager before parsing it to CM (#222)
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Co-authored-by: Alejandro Hernández Cordero <[email protected]>
(cherry picked from commit 5a94805)
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saikishor authored and mergify[bot] committed Jan 24, 2024
1 parent 59d22fd commit 825eb0e
Showing 1 changed file with 6 additions and 0 deletions.
6 changes: 6 additions & 0 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -393,6 +393,12 @@ void GazeboSimROS2ControlPlugin::Configure(
std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
std::make_unique<hardware_interface::ResourceManager>();

try {
resource_manager_->load_urdf(urdf_string, false, false);
} catch (...) {
RCLCPP_ERROR(
this->dataPtr->node_->get_logger(), "Error initializing URDF to resource manager!");
}
try {
this->dataPtr->robot_hw_sim_loader_.reset(
new pluginlib::ClassLoader<gz_ros2_control::GazeboSimSystemInterface>(
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